OpenRaiser/Intern-Atlas huggingface dataset:
CaReAQA: A Cardiac and Respiratory Audio Question Answering Model for Open-Ended Diagnostic Reasoning
Venue: arXiv cs.LG 2025
Year: 2025

Medical audio signals, such as heart and lung sounds, play a crucial role in clinical diagnosis. However, analyzing these signals remains challenging: traditional methods rely on handcrafted features or supervised deep learning models that demand extensive labeled datasets, limiting their scalability and applicability. To address these issues, we propose CaReAQA, an audio-language model that integrates a foundation audio model with the reasoning capabilities of large language models, enabling clinically relevant, open-ended diagnostic responses. Alongside CaReAQA, we introduce CaReSound, a benchmark dataset of annotated medical audio recordings enriched with metadata and paired question-answer examples, intended to drive progress in diagnostic reasoning research. Evaluation results show that CaReAQA achieves 86.2% accuracy on open-ended diagnostic reasoning tasks, outperforming baseline models. It also generalizes well to closed-ended classification tasks, achieving an average accuracy of 56.9% on unseen datasets. Our findings show how audio-language integration and reasoning advances medical diagnostics, enabling efficient AI systems for clinical decision support.
Tell me who its founders are and I'll tell you what your online community looks like: Online community founders' personality and community attributes
Venue: arXiv cs.SI 2025
Year: 2025

Online communities are an increasingly important stakeholder for firms, and despite the growing body of research on them, much remains to be learned about them and about the factors that determine their attributes and sustainability. Whereas most of the literature focuses on predictors such as community activity, network structure, and platform interface, there is little research about behavioral and psychological aspects of community members and leaders. In the present study we focus on the personality traits of community founders as predictors of community attributes and sustainability. We develop a tool to estimate community members' Big Five personality traits from their social media text and use it to estimate the traits of 35,164 founders in 8,625 Reddit communities. We find support for most of our predictions about the relationships between founder traits and community sustainability and attributes, including the level of engagement within the community, aspects of its social network structure, and whether the founders themselves remain active in it.
VRS-UIE: Value-Driven Reordering Scanning for Underwater Image Enhancement
Venue: arXiv cs.CV 2025
Year: 2025

State Space Models (SSMs) have emerged as a promising backbone for vision tasks due to their linear complexity and global receptive field. However, in the context of Underwater Image Enhancement (UIE), the standard sequential scanning mechanism is fundamentally challenged by the unique statistical distribution characteristics of underwater scenes. The predominance of large-portion, homogeneous but useless oceanic backgrounds can dilute the feature representation responses of sparse yet valuable targets, thereby impeding effective state propagation and compromising the model's ability to preserve both local semantics and global structure. To address this limitation, we propose a novel Value-Driven Reordering Scanning framework for UIE, termed VRS-UIE. Its core innovation is a Multi-Granularity Value Guidance Learning (MVGL) module that generates a pixel-aligned value map to dynamically reorder the SSM's scanning sequence. This prioritizes informative regions to facilitate the long-range state propagation of salient features. Building upon the MVGL, we design a Mamba-Conv Mixer (MCM) block that synergistically integrates priority-driven global sequencing with dynamically adjusted local convolutions, thereby effectively modeling both large-portion oceanic backgrounds and high-value semantic targets. A Cross-Feature Bridge (CFB) further refines multi-level feature fusion. Extensive experiments demonstrate that our VRS-UIE framework sets a new state-of-the-art, delivering superior enhancement performance (surpassing WMamba by 0.89 dB on average) by effectively suppressing water bias and preserving structural and color fidelity. Furthermore, by incorporating efficient convolutional operators and resolution rescaling, we construct a light-weight yet effective scheme, VRS-UIE-S, suitable for real-time UIE applications.
Core-Set Selection for Data-efficient Land Cover Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

The increasing accessibility of remotely sensed data and their potential to support large-scale decision-making have driven the development of deep learning models for many Earth Observation tasks. Traditionally, such models rely on large datasets. However, the common assumption that larger training datasets lead to better performance tends to overlook issues related to data redundancy, noise, and the computational cost of processing massive datasets. Effective solutions must therefore consider not only the quantity but also the quality of data. Towards this, in this paper, we introduce six basic core-set selection approaches -- that rely on imagery only, labels only, or a combination of both -- and investigate whether they can identify high-quality subsets of data capable of maintaining -- or even surpassing -- the performance achieved when using full datasets for remote sensing semantic segmentation. We benchmark such approaches against two traditional baselines on three widely used land-cover classification datasets (DFC2022, Vaihingen, and Potsdam) using two different architectures (SegFormer and U-Net), thus establishing a general baseline for future works. Our experiments show that all proposed methods consistently outperform the baselines across multiple subset sizes, with some approaches even selecting core sets that surpass training on all available data. Notably, on DFC2022, a selected subset comprising only 25% of the training data yields slightly higher SegFormer performance than training with the entire dataset. This result shows the importance and potential of data-centric learning for the remote sensing domain. The code is available at https://github.com/keillernogueira/data-centric-rs-classification/.
Fusing Foveal Fixations Using Linear Retinal Transformations and Bayesian Experimental Design
Venue: arXiv cs.CV 2025
Year: 2025

Humans (and many vertebrates) face the problem of fusing together multiple fixations of a scene in order to obtain a representation of the whole, where each fixation uses a high-resolution fovea and decreasing resolution in the periphery. In this paper we explicitly represent the retinal transformation of a fixation as a linear downsampling of a high-resolution latent image of the scene, exploiting the known geometry. This linear transformation allows us to carry out exact inference for the latent variables in factor analysis (FA) and mixtures of FA models of the scene. Further, this allows us to formulate and solve the choice of "where to look next" as a Bayesian experimental design problem using the Expected Information Gain criterion. Experiments on the Frey faces and MNIST datasets demonstrate the effectiveness of our models.
Shuffling Cards When You Are of Very Little Brain: Low Memory Generation of Permutations
Venue: arXiv cs.DS 2025
Year: 2025

How can we generate a permutation of the numbers $1$ through $n$ so that it is hard to guess the next element given the history so far? The twist is that the generator of the permutation (the ``Dealer") has limited memory, while the ``Guesser" has unlimited memory. With unbounded memory (actually $n$ bits suffice), the Dealer can generate a truly random permutation where $\ln n$ is the expected number of correct guesses. Our main results establish tight bounds for the relationship between the guessing probability and the memory $m$ required to generate the permutation. We suggest a method for an $m$-bit Dealer that operates in constant time per turn, and any Guesser can pick correctly only $O(n/m+\log m)$ cards in expectation. The method is fully transparent, requiring no hidden information from the Dealer (i.e., it is "open book" or "whitebox"). We show that this bound is the best possible, even with secret memory. Specifically, for any $m$-bit Dealer, there is a (computationally powerful) guesser that achieves $Ω(n/m+\log m)$ correct guesses in expectation. We point out that the assumption that the Guesser is computationally powerful is necessary: under cryptographic assumptions, there exists a low-memory Dealer that can fool any computationally bounded guesser. We also give an $O(n)$ bit memory Dealer that generates perfectly random permutations and operates in constant time per turn.
ViSA-Flow: Accelerating Robot Skill Learning via Large-Scale Video Semantic Action Flow
Venue: arXiv cs.RO 2025
Year: 2025

One of the central challenges preventing robots from acquiring complex manipulation skills is the prohibitive cost of collecting large-scale robot demonstrations. In contrast, humans are able to learn efficiently by watching others interact with their environment. To bridge this gap, we introduce semantic action flow as a core intermediate representation capturing the essential spatio-temporal manipulator-object interactions, invariant to superficial visual differences. We present ViSA-Flow, a framework that learns this representation self-supervised from unlabeled large-scale video data. First, a generative model is pre-trained on semantic action flows automatically extracted from large-scale human-object interaction video data, learning a robust prior over manipulation structure. Second, this prior is efficiently adapted to a target robot by fine-tuning on a small set of robot demonstrations processed through the same semantic abstraction pipeline. We demonstrate through extensive experiments on the CALVIN benchmark and real-world tasks that ViSA-Flow achieves state-of-the-art performance, particularly in low-data regimes, outperforming prior methods by effectively transferring knowledge from human video observation to robotic execution. Videos are available at https://visaflow-web.github.io/ViSAFLOW.
Document Retrieval Augmented Fine-Tuning (DRAFT) for safety-critical software assessments
Venue: arXiv cs.SE 2025
Year: 2025

Safety critical software assessment requires robust assessment against complex regulatory frameworks, a process traditionally limited by manual evaluation. This paper presents Document Retrieval-Augmented Fine-Tuning (DRAFT), a novel approach that enhances the capabilities of a large language model (LLM) for safety-critical compliance assessment. DRAFT builds upon existing Retrieval-Augmented Generation (RAG) techniques by introducing a novel fine-tuning framework that accommodates our dual-retrieval architecture, which simultaneously accesses both software documentation and applicable reference standards. To fine-tune DRAFT, we develop a semi-automated dataset generation methodology that incorporates variable numbers of relevant documents with meaningful distractors, closely mirroring real-world assessment scenarios. Experiments with GPT-4o-mini demonstrate a 7% improvement in correctness over the baseline model, with qualitative improvements in evidence handling, response structure, and domain-specific reasoning. DRAFT represents a practical approach to improving compliance assessment systems while maintaining the transparency and evidence-based reasoning essential in regulatory domains.
Desired Impedance Allocation for Robotic Systems
Venue: arXiv cs.RO 2025
Year: 2025

Virtual Decomposition Control (VDC) has emerged as a powerful modular framework for real-world robotic control, particularly in contact-rich tasks. Despite its widespread use, VDC has been fundamentally limited to first-order impedance allocation, inherently neglecting the desired inertia due to the mathematical complexity of second-order behavior allocation. However, inertia is crucial, not only for shaping dynamic responses during contact phases, but also for enabling smooth acceleration and deceleration in trajectory tracking. Motivated by the growing demand for high-fidelity interaction control, this work introduces, for the first time in the VDC framework, a method to realize second-order impedance behavior. By redefining the required end-effector velocity and introducing a required acceleration and a pseudo-impedance term, we achieve second-order impedance control while preserving the modularity of VDC. Rigorous stability analysis confirms the robustness of the proposed controller. Experimental validation on a 7-degree-of-freedom haptic exoskeleton demonstrates superior tracking and contact performance compared to first-order methods. Notably, incorporating inertia enables stable interaction with environments up to 70% stiffer, highlighting the effectiveness of the approach in real-world contact-rich scenarios.
ABCO: Adaptive Bacterial Colony Optimisation
Venue: arXiv cs.NE 2025
Year: 2025

This paper introduces a new optimisation algorithm, called Adaptive Bacterial Colony Optimisation (ABCO), modelled after the foraging behaviour of E. coli bacteria. The algorithm follows three stages--explore, exploit and reproduce--and is adaptable to meet the requirements of its applications. The performance of the proposed ABCO algorithm is compared to that of established optimisation algorithms--particle swarm optimisation (PSO) and ant colony optimisation (ACO)--on a set of benchmark functions. Experimental results demonstrate the benefits of the adaptive nature of the proposed algorithm: ABCO runs much faster than PSO and ACO while producing competitive results and outperforms PSO and ACO in a scenario where the running time is not crucial.
FreeInsert: Disentangled Text-Guided Object Insertion in 3D Gaussian Scene without Spatial Priors
Venue: arXiv cs.CV 2025
Year: 2025

Text-driven object insertion in 3D scenes is an emerging task that enables intuitive scene editing through natural language. However, existing 2D editing-based methods often rely on spatial priors such as 2D masks or 3D bounding boxes, and they struggle to ensure consistency of the inserted object. These limitations hinder flexibility and scalability in real-world applications. In this paper, we propose FreeInsert, a novel framework that leverages foundation models including MLLMs, LGMs, and diffusion models to disentangle object generation from spatial placement. This enables unsupervised and flexible object insertion in 3D scenes without spatial priors. FreeInsert starts with an MLLM-based parser that extracts structured semantics, including object types, spatial relationships, and attachment regions, from user instructions. These semantics guide both the reconstruction of the inserted object for 3D consistency and the learning of its degrees of freedom. We leverage the spatial reasoning capabilities of MLLMs to initialize object pose and scale. A hierarchical, spatially aware refinement stage further integrates spatial semantics and MLLM-inferred priors to enhance placement. Finally, the appearance of the object is improved using the inserted-object image to enhance visual fidelity. Experimental results demonstrate that FreeInsert achieves semantically coherent, spatially precise, and visually realistic 3D insertions without relying on spatial priors, offering a user-friendly and flexible editing experience.
Learning Stabilizing Policies via an Unstable Subspace Representation
Venue: arXiv cs.LG 2025
Year: 2025

We study the problem of learning to stabilize (LTS) a linear time-invariant (LTI) system. Policy gradient (PG) methods for control assume access to an initial stabilizing policy. However, designing such a policy for an unknown system is one of the most fundamental problems in control, and it may be as hard as learning the optimal policy itself. Existing work on the LTS problem requires large data as it scales quadratically with the ambient dimension. We propose a two-phase approach that first learns the left unstable subspace of the system and then solves a series of discounted linear quadratic regulator (LQR) problems on the learned unstable subspace, targeting to stabilize only the system's unstable dynamics and reduce the effective dimension of the control space. We provide non-asymptotic guarantees for both phases and demonstrate that operating on the unstable subspace reduces sample complexity. In particular, when the number of unstable modes is much smaller than the state dimension, our analysis reveals that LTS on the unstable subspace substantially speeds up the stabilization process. Numerical experiments are provided to support this sample complexity reduction achieved by our approach.
Closing the Loop: A Systematic Review of Experience-Driven Game Adaptation
Venue: arXiv cs.HC 2025
Year: 2025

Adaptive game systems aim to enrich player experiences by dynamically adjusting game content in response to user data. While extensive research has addressed content personalization and player experience modeling, the integration of these components into fully operational adaptive gameplay systems remains limited. This systematic review, conducted in accordance with PRISMA guidelines, analyzes 17 empirical studies published between January 2015 and May 2024, identifying and analyzing approaches that implement the complete experience-driven loop -- including player sensing, modeling, and content adaptation. Game telemetry remains the most prevalent sensing modality, although other non-invasive methods suitable for affective modeling -- such as facial expression analysis (FEA) and peripheral interaction data -- remain underutilized despite their potential for real-time emotional inference. Knowledge-based methods, such as rule-based systems and heuristics, dominate modeling and adaptation due to their interpretability and low resource demands, whereas machine learning approaches face challenges related to data availability and transparency. Despite their relevance to immersive and therapeutic experiences, affective states such as stress and anxiety remain largely ignored, as systems continue to favor performance over emotion-sensitive adaptation. These findings highlight a crucial research direction: advancing emotionally responsive game systems that move beyond performance optimization by incorporating underutilized sensing modalities -- such as FEA and peripheral interaction -- to enable real-time affect-driven personalization. Advancing in this direction holds strong potential to increase immersion, personalize gameplay, and support affect regulation across entertainment and therapeutic contexts.
Monitoring morphometric drift in lifelong learning segmentation of the spinal cord
Venue: arXiv cs.CV 2025
Year: 2025

Morphometric measures derived from spinal cord segmentations can serve as diagnostic and prognostic biomarkers in neurological diseases and injuries affecting the spinal cord. While robust, automatic segmentation methods to a wide variety of contrasts and pathologies have been developed over the past few years, whether their predictions are stable as the model is updated using new datasets has not been assessed. This is particularly important for deriving normative values from healthy participants. In this study, we present a spinal cord segmentation model trained on a multisite $(n=75)$ dataset, including 9 different MRI contrasts and several spinal cord pathologies. We also introduce a lifelong learning framework to automatically monitor the morphometric drift as the model is updated using additional datasets. The framework is triggered by an automatic GitHub Actions workflow every time a new model is created, recording the morphometric values derived from the model's predictions over time. As a real-world application of the proposed framework, we employed the spinal cord segmentation model to update a recently-introduced normative database of healthy participants containing commonly used measures of spinal cord morphometry. Results showed that: (i) our model outperforms previous versions and pathology-specific models on challenging lumbar spinal cord cases, achieving an average Dice score of $0.95 \pm 0.03$; (ii) the automatic workflow for monitoring morphometric drift provides a quick feedback loop for developing future segmentation models; and (iii) the scaling factor required to update the database of morphometric measures is nearly constant among slices across the given vertebral levels, showing minimum drift between the current and previous versions of the model monitored by the framework. The code and model are open-source and accessible via Spinal Cord Toolbox v7.0.
Evaluating Explanations: An Explanatory Virtues Framework for Mechanistic Interpretability -- The Strange Science Part I.ii
Venue: arXiv cs.LG 2025
Year: 2025

Mechanistic Interpretability (MI) aims to understand neural networks through causal explanations. Though MI has many explanation-generating methods, progress has been limited by the lack of a universal approach to evaluating explanations. Here we analyse the fundamental question "What makes a good explanation?" We introduce a pluralist Explanatory Virtues Framework drawing on four perspectives from the Philosophy of Science - the Bayesian, Kuhnian, Deutschian, and Nomological - to systematically evaluate and improve explanations in MI. We find that Compact Proofs consider many explanatory virtues and are hence a promising approach. Fruitful research directions implied by our framework include (1) clearly defining explanatory simplicity, (2) focusing on unifying explanations and (3) deriving universal principles for neural networks. Improved MI methods enhance our ability to monitor, predict, and steer AI systems.
An Efficient Real-Time Planning Method for Swarm Robotics Based on an Optimal Virtual Tube
Venue: arXiv cs.RO 2025
Year: 2025

Swarm robotics navigating through unknown obstacle environments is an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve autonomous localization, perception, decision-making, control, and planning. The limited computational resources of onboard platforms present significant challenges for planning and control. Reactive planners offer low computational demands and high re-planning frequencies but lack predictive capabilities, often resulting in local minima. Long-horizon planners, on the other hand, can perform multi-step predictions to reduce deadlocks but cost much computation, leading to lower re-planning frequencies. This paper proposes a real-time optimal virtual tube planning method for swarm robotics in unknown environments, which generates approximate solutions for optimal trajectories through affine functions. As a result, the computational complexity of approximate solutions is $O(n_t)$, where $n_t$ is the number of parameters in the trajectory, thereby significantly reducing the overall computational burden. By integrating reactive methods, the proposed method enables low-computation, safe swarm motion in unknown environments. The effectiveness of the proposed method is validated through several simulations and experiments.